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第25届中国控制与决策会议

作者： Mojtaba Zaare Mehrjerdi Ghassem Amoabediny Behzad Moshiri Arman Ashktorab Babak Nadjar Araabi Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Research Center for New Technologies in Life Science Engineering University of Tehran Department of Life Science Engineering Faculty of New Technologies University of Tehran Department of Chemical Engineering Faculty of Engineering University of Tehran

ISBN: (纸本)9781467355339

Today the importance of life science and its related processes are undeniable. Modeling and control of these kind of processes are too complicate because of existence of delay in growth and also nonlinear behavior of micro-organisms. Model predictive control is one of the most popular advanced controlling strategies in this industry, however its dependence on accurate model for predicting future input and output values is limitating. If there is a way that could predict the future values of the process properly, it is possible to overcome to the existing challenges. In this paper we design a model free predictive controller by using a trained recurrent neural network as a predictor for prediction stage at MPC and using GA for solving the associated optimization problem that result the optimal control signal sequence.

关键词： NNMPC GA Biological System Aerated Flask

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Robust H-infinity control for constrained uncertain systems and its application to active suspension

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控制理论与应用（英文版） 2012年第4期10卷 470-476页

作者： Miaomiao MA Hong CHEN Xiangjie LIU School of Control and Computer Engineering North China Electric Power University Department of Control Science and Engineering Jilin University

This paper presents an LMI based robust H-infinity control scheme for constrained systems with norm- bounded uncertainties. The uncertainties are incorporated in the evaluation of the H-infinity norm and the time-domain constraints. The robust closed-loop properties inclusive of stability, H-infinity performance and the satisfaction of the time- domain constraints are discussed. Analysis and simulation results for a 2 DOF quarter-car model show possible improve- ments on ride comfort, while robustly respecting safety related constraints such as good road holding, limited suspension strokes and actuator saturation.

关键词： Constraints H-infinity performance LMI optimization Norm-bounded uncertainties Active suspension

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Detecting mutual functional gene clusters from multiple related diseases

Detecting mutual functional gene clusters from multiple rela...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Nan Du Xiaoyi Li Yuan Zhang Aidong Zhang Computer Science and Engineering Department State University of New York at Buffalo Buffalo U.S.A College of Electronic Information and Control Engineering Beijing University of Technology Beijing China

Discovering functional gene clusters based on gene expression data has been a widely-used method that offers a tremendous opportunity for understanding the functional genomics of a specific disease. Due to its strong power of comprehending and interpreting mass of genes, plenty of studies have been done on detecting and analyzing the gene clusters for various diseases. However, more and more evidence suggest that human diseases are not isolated from each other. Therefore, it's significant and interesting to detect the common functional gene clusters driving the core mechanisms among multiple related diseases. There are mainly two challenges for this task: first, the gene expression from each disease may contain noise; second, the common factors underlying multiple diseases are hard to detect. To address these challenges, we propose a novel deep architecture to discover the mutual functional gene clusters across multiple types of diseases. To demonstrate that the proposed method can discover precise and meaningful gene clusters which are not directly obtainable from traditional methods, we perform extensive experimental studies on both synthetic and real datasets - public gene-expression data of three types of cancers. Experimental results show that the proposed approach is highly effective in discovering the mutual functional gene clusters.

关键词： Diseases Gene expression Noise computer architecture Vectors Breast cancer

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics): Preface

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2013年 7994 LNCS卷 VI页

作者： Faber, Wolfgang Lembo, Domenico University of Calabria Department of Mathematics and Computer Science Via P. Bucci cubo 30b 87036 Rende Italy Sapienza University of Rome Department of Computer Control and Management Engineering Antonio Ruberti Via Ariosto 25 00185 Roma Italy

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Human interest oriented heterogeneous multi-robot exploration under connectivity constraints

Human interest oriented heterogeneous multi-robot exploratio...

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IEEE International Conference on Robotics and Biomimetics

作者： Han Zhang Weidong Chen Jingchuan Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai Electronics and Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

ISBN: (纸本)9781479927456

Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.

关键词： Robot kinematics Base stations Optimization Resource management Equations Mobile communication

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Feedback Properties of Gaussian Channels with Feedback

Feedback Properties of Gaussian Channels with Feedback

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IEEE Annual Conference on Decision and control

作者： J. S. Freudenberg R. H. Middleton A. B. Wagner Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109 Centre for Complex Dynamic Systems and Control The University of Newcastle 2308 Australia School of Electrical and Computer engineering Cornell University Ithaca NY 14853

ISBN: (纸本)9781467357159

Many researchers have studied connections between the problems of feedback control and of communicating over a channel with feedback. We study two such feedback communication schemes, and focus on properties such as phase margin, robustness with respect to unmodeled time delays, and exogenous noise inputs. In particular, we study the impact of unstable poles in the encoder or decoder on these properties, as quantified by the Bode sensitivity integral.

关键词： Sensitivity Estimation error Signal to noise ratio Eigenvalues and eigenfunctions Random variables Decoding

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Cyclic scheduling of multimodal processes in mesh-like environment

Cyclic scheduling of multimodal processes in mesh-like envir...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Grzegorz Bocewicz Wojciech Muszyński Zbigniew Banaszak Department of Computer Science and Management Koszalin University of Technology Koszalin Poland Department of Business Informatics Warsaw University of Technology Warsaw Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

A processes composed of sequences of local cyclic The theoretical prediction of the behavioral properties of periodic structures is less difficult than in the case of nonperiodic ones. That is because all the information needed to describe the entire structure is given by the elementary substructure itself and by the manner it repeats in the whole periodic structure. So, only a small portion of the structure (which includes the repeating substructure) needs to be considered to obtain the properties of the whole periodic structure. In that context, the contribution provides the discussion of some system periodicity issues, and is aimed at modeling and evaluation of relationships linking the system structure features with required system's functioning.

关键词： Periodic structures Gears Wheels Transportation Cities and towns Dispatching Job shop scheduling

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Undo the codebook bias by linear transformation for visual applications 13

Undo the codebook bias by linear transformation for visual a...

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21st ACM International Conference on Multimedia, MM 2013

作者： Zhang, Chunjie Zhang, Yifan Wang, Shuhui Pang, Junbiao Liang, Chao Huang, Qingming Tian, Qi School of Computer and Control Engineering University of Chinese Academy of Sciences 100049 Beijing China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing China Key Lab of Intell. Info. Process Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China College of Computer Science and Technology Beijing University of Technology 100124 Beijing China School of Computer National Engineering Research Center for Multimedia Software Wuhan University 430072 Wuhan China Department of Computer Sciences University of Texas at San Antonio San Antonio TX 78249 United States

ISBN: (纸本)9781450324045

The bag of visual words model (BoW) and its variants have demonstrate their effectiveness for visual applications and have been widely used by researchers. The BoW model first extracts local features and generates the corresponding codebook, the elements of a codebook are viewed as visual words. The local features within each image are then encoded to get the final histogram representation. However, the codebook is dataset dependent and has to be generated for each image dataset. This costs a lot of computational time and weakens the generalization power of the BoW model. To solve these problems, in this paper, we propose to undo the dataset bias by codebook linear transformation. To represent every points within the local feature space using Euclidean distance, the number of bases should be no less than the space dimensions. Hence, each codebook can be viewed as a linear transformation of these bases. In this way, we can transform the pre-learned codebooks for a new dataset. However, not all of the visual words are equally important for the new dataset, it would be more effective if we can make some selection using sparsity constraints and choose the most discriminative visual words for transformation. We propose an alternative optimization algorithm to jointly search for the optimal linear transformation matrixes and the encoding parameters. Image classification experimental results on several image datasets show the effectiveness of the proposed method. Copyright © 2013 ACM.

关键词： Linear transformations

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Underwater Target Positioning with a Single Acoustic Sensor

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IFAC Proceedings Volumes 2013年第33期46卷 233-238页

作者： D. Moreno-Salinas A.M. Pascoal J. Aranda Department of Computer Science and Automatic Control National University Distance Education (UNED) Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico (IST) University of Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

The availability of reliable underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or an autonomous surface vessel is key to the operation of some classes of AUVs. Furthermore, there is considerable interest in reducing the number of sensors involved in acoustic navigation/positioning systems to reduce the costs involved and the time consumed in the deployment, callibration, and recovery phases. Motivated by these considerations, in this paper we address the problem of single underwater target positioning based on measurements of the ranges between the target and a moving sensor at the sea surface, obtained via acoustic ranging devices. In particular, and speaking in loose terms, we are interested in determining the optimal geometric trajectory of the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning. To this effect, an appropriate Fisher Information Matrix is defined and its determinant is maximized to yield the sensor trajectory that maximizes the accuracy of the target position estimate that can possibly be obtained with any unbiased estimator. It is shown that the optimal trajectory depends on the relative velocity of the sensor, the sampling time between measurements, and the number of measurements acquired for the FIM computation. Simulation examples illustrate the key results derived.

关键词： Autonomous Vehicles Underwater Navigation Optimal Sensor Placement Positioning Fisher Information Matrix Cramer-Rao Bound

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Norm optimal iterative learning control for planar tracking tasks

Norm optimal iterative learning control for planar tracking ...

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11th IFAC International Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2013

作者： Owens, David H. Freeman, Chris T. Chu, Bing Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ United Kingdom Department of Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova Italy

ISBN: (纸本)9783902823373

The Iterative Learning control (ILC) problem in which tracking is only required at a subset of isolated time points along the trial duration has recently gained significant attention since it addresses the practical needs of many *** paper extends the framework by embedding simultaneous iterative convergence of subsets of outputs to reference trajectories on subintervals. This enables it to tackle tasks which mix 'point to point' movements with linear tracking requirements, which substantially broadens the application domain (e.g. to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments). A solution to the problem is presented in the framework of Norm Optimal ILC (NOILC), providing well-defined convergence properties, design guidelines and supporting experimental results. © IFAC.

关键词： Two term control systems

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